Methods to simulate continuous wave lidar sensors

ABSTRACT

The disclosure relates to a method for simulating sensor data of a continuous wave (CW) Light Detection and Ranging (lidar) sensor. The method includes generating a ray set comprising at least one ray, based on a CW signal, where each ray in the ray set has an emission starting time and an emission duration. The method further includes propagating, for each ray in the ray set, the ray through a simulated scene including at least one object; computing, for each ray in the ray set, a signal contribution of the propagated ray at a detection location in the simulated scene; generating an output signal, based on mixing the CW signal with the computed signal contributions of the rays in the ray set; and at least one of storing and outputting the output signal.

The present patent document is a § 371 nationalization of PCTApplication Serial No. PCT/EP2019/068388, filed Jul. 9, 2019,designating the United States, which is hereby incorporated byreference.

TECHNICAL FIELD

The present disclosure relates to a method for simulating sensor data ofa continuous wave (CW) light detection and ranging (lidar) sensor. Thedisclosure further relates to a device for simulating sensor data of aCW lidar sensor.

BACKGROUND

Lidar is a laser-based technology for measuring distances to a targetwhich may provide high-resolution three-dimensional representations ofthe surrounding. Lidar system service applications in automatic driverassistance systems (ADAS) provide so-called environmental models usedfor parking assistants, for collision warning, and for autonomousdriving applications. Lidar systems are extensively used in a wide rangeof fields, including geodesy, seismology, airborne laser swath mapping(ALSM), and laser altimetry.

There exist different types of lidar sensors. For instance, pulsed lidarsensors emit short laser pulses and measure the time-of-flight of thelaser pulse from emission to its return to the lidar sensor. Themeasured time-of-flight may be used to compute the distance to areflecting target.

Another type of lidar sensors uses continuous wave (CW) signals. In thiscase, light is continuously emitted. The light source may be modulatedby either modulating the amplitude in amplitude modulated continuouswave (AMCW) methods or by modulating the frequency in frequencymodulated continuous wave (FMCW) methods. In many applications, CWmethods may be used in comparison to pulsed lidar sensor methods becauseof the accuracy and robustness of the CW methods.

Many applications require a high accuracy of the sensor data obtained bylidar systems. Developing new lidar applications may therefore involvesubstantial testing of the lidar sensors, involving physical sensors. Inorder to reduce the production costs, there is a demand for simulationdata which may reproduce as accurately as possible the output of thelidar sensors being developed. Lidar simulation data is also required inmany other fields, including the development of signal processingalgorithms, training neural networks, virtual validation, and the like.

Providing lidar sensor data modelling pulsed lidar sensors is discussedin A. Kim et al., “Simulating full-waveform lidar”, Proc. SPIE 7684,Laser Radar Technology and Applications XV, 2010, and in A. Kim,“Simulating full-waveform LIDAR”, Diss. Monterey, Calif. NavalPostgraduate School, 2009.

DE 10 2016 100416 A1 deals with testing virtual sensors in a virtualenvironment. This may include different sensor types, including LIDAR.

EP 3 260 875 A1 discloses an automotive testing method. The methodincludes an act of acquiring radar sensor data responsive to a radarexcitation signal.

US 2016/005209 A1 deals with photorealistic imaging and generation ofpictures with focus on lighting design.

A known method to provide lidar sensor data includes simulating idealpoint clouds with a single simulated ray. The propagation of the ray iscomputed using ray-tracing up to the nearest intersection point with asurface, whereby only mirror-reflection is considered. Accordingly, onlyone distance per ray is computed. Further, multiple rays per beam mayprovide multiple points. In such simulations, only point data isprovided as an output but no information regarding the resulting signalis generated. Real lidar sensors, in contrast, produce a time-varyingelectrical signal which are processed to produce points in the simulatedscene. The time-varying signal includes a lot of additional informationabout the simulated scene, including object shape, object class,multiple reflections, and the like. Such information is inevitably lostif only point clouds are provided as an output.

In addition, the time-varying signal contains features which result fromphysical properties of the lidar sensor and the environment, includingbeam shape, object motion between beams, weather effects on the signal,and the like. These features lead to artifacts in the lidar data whichmust be accounted for when developing sensors and algorithms based ontheir outputs.

Accordingly, point clouds may be insufficient for simulating lidarsensors during development and more realistic data may be required.

SUMMARY AND DESCRIPTION

It is therefore an object of the present disclosure to provide a methodand a device for providing realistic continuous wave lidar data. Thescope of the present disclosure is defined solely by the appended claimsand is not affected to any degree by the statements within this summary.The present embodiments may obviate one or more of the drawbacks orlimitations in the related art.

According to the first aspect, a method is provided for simulatingsensor data of a continuous wave (CW) light detection and ranging(lidar) sensor. According to the second aspect, a device is provided forsimulating sensor data of a CW lidar sensor. According to a thirdaspect, a computer program product is provided. According to a fourthaspect, a non-transitory, computer-readable storage medium is provided.

According to the first aspect, a method is provided for simulatingsensor data of a continuous wave (CW) light detection and ranging(lidar) sensor, wherein a ray set including at least one ray isgenerated based on a CW signal. Each ray in the ray set has an emissionstarting time and an emission duration. For each ray in the ray set, theray is propagated through a simulated scene including at least oneobject. For each ray in the ray set, a signal contribution of thepropagated ray is computed at a detection location in the simulatedscene. An output signal is generated based on mixing the CW signal withthe computed signal contributions of the rays in the ray set. The methodfurther provides storing and/or outputting the output signal.

According to a second aspect, a device is provided for simulating sensordata of a CW lidar sensor, including a processing unit and at least oneof a storing unit and an output unit. The processing unit generates aray set including at least one ray based on a CW signal, each ray of theray set having an emission starting time and an emission duration. Theprocessing unit propagates, for each ray in the ray set, the ray througha simulated scene including at least one object. The processing unitcomputes, for each ray in the ray set, a signal contribution of thepropagated ray at a detection location in the simulated scene. Theprocessing unit further generate an output signal, based on mixing theCW signal with the computed signal contributions of the rays in the rayset. The storing unit is configured to store the output signal and theoutput unit is configured to output the output signal.

According to a third aspect, a computer program product includingexecutable program code is provided, wherein the program code isconfigured to, when executed by a computing device, perform the methodfor simulating sensor data of a continuous wave sensor.

According to a fourth aspect, a non-transitory, computer-readablestorage medium including executable program code is provided, whereinthe program code is configured to, when executed by a computing device,perform the method for simulating sensor data of a CW lidar sensor.

The disclosure provides simulation data corresponding to full-waveformsignals of CW lidar sensors. Instead of only providing “perfect”point-clouds-type representations of the simulated scene, the entiresignal information is kept. Therefore, the provided sensor data whichincludes the output signal, also allows to determine additionalinformation, such as object shapes and object classes, and objectorientation. Moreover, the sensor data also includes artifacts which arepresent in real lidar data, which originate from physical properties ofthe lidar sensor and the environment and are absent in point-clouds-typedata, such as multiple reflections of the lidar beam. Therefore, sensordevelopment may be improved by also taking the artifacts into account.

The disclosure accurately simulates how a real CW lidar sensor works andtherefore accurately recreates the output of a real CW lidar sensor. Theprovided high-quality data, which is both complete and accurate to thereal world, may also be of high value for developing signal processingalgorithms, training neural networks, virtual validation, and the like.

According to an embodiment of the method, the ray set includes exactlyone ray. In certain examples, the ray set includes a plurality of rays.For instance, the ray set may include at least 2, at least 100, at least500, or at least 1000 rays. The upper number of rays may also berestricted. For instance, the ray set may include at most 100,000, atmost 10,000, at most 5000, or at most 2000 rays.

According to an embodiment of the method, each ray in the ray setincludes a spatial origin in the simulated scene and an emissiondirection in the simulated scene. Accordingly, the rays are sampled inboth space and time. Sampling in space includes determining the spatialorigin and direction of emission and sampling in time includes assigninga portion of the CW signal to the ray. The emission direction maycorrespond to a single vector in the simulated scene, indicating inwhich direction the ray is emitted.

According to an embodiment of the method, propagating the ray includesdetermining a light path of the ray based on the spatial origin of theray, based on the emission direction of the ray, and based on reflectionof the ray on the objects in the simulated scene. Further, a throughputof the ray along the light path to the detection location is computed.Computing the signal contribution is based on the computed throughput.According to an embodiment, only a single reflection may be taken intoaccount. Multiple reflections of the rays from the objects may also beconsidered. The number of reflections may be restricted, e.g., onlynumbers of reflections smaller than a predetermined threshold are takeninto account.

According to an embodiment of the method, for each ray in the ray set,mixing the CW signal with the computed signal contribution of the ray isbased on a signal offset between the signal contribution and the CWsignal. The signal offset is determined based on the emission startingtime of the ray and the light path of the ray.

According to an embodiment of the method, the emission direction israndomly selected for each ray. The emission direction of the rays mayalso be uniformly selected. The emission directions may be chosen toaccount for the finite extent of the laser beam emitted by the lidarsensor. Laser beams may be described by Gaussian beams having a waistw_0, but the laser beams may also have an arbitrary shape. The emissiondirection of the entire beam, in this case, may be described by acertain solid angle. Moreover, the emission direction of the lidarsensor may be adjustable. For instance, the lidar sensor may include amicro mirror configured to deflect the emitted laser, thereby scanning acertain spatial region.

According to a further embodiment of the method, the ray set includes aplurality of rays. The emission starting times of the rays are randomlyselected. The emission times may also be selected uniformly. Theemission times of the rays may be chosen such that all points in timeare sufficiently sampled to produce an accurate output signal. Thecontributions of different rays may be weighted according to animportance sampling method. For instance, the signal contributions ofthe rays may be weighted with different weights.

According to an embodiment of the method, the CW signal is a frequencymodulated continuous wave (FMCW) signal. The CW signal may also be anamplitude modulated continuous wave (AMCW) signal.

According to an embodiment of the method, generating a ray set includes,for each ray, assigning a portion of the CW signal to the ray. The raycorresponds to a portion of the infinite-time CW signal that begins atthe emission starting time and has a length equal to the emissionduration. In other words, the CW signal is an infinite-time signal,(e.g., the laser emits continuously), and each ray corresponds to asection of the CW signal in a certain time interval. The time dependenceof the amplitude of the ray is equal to the time dependence of thecorresponding section of the CW signal.

According to an embodiment of the method, generating the output signalincludes computing, for each ray in the ray set, a mixed signalcontribution obtained by mixing the CW signal with the computed signalcontribution of the ray. Further, the output signal is generated byadding the mixed signal contributions of all rays in the ray set.Accordingly, the output signal is generated after mixing all signalcontributions with the CW signal.

According to an embodiment of the device, the ray set includes aplurality of rays, and the processing unit is configured to determinethe emission starting times of the rays in a random or uniform way.

According to an embodiment of the device, the processing unit isconfigured to generate the ray set by assigning, for each ray, a portionof the CW signal to the ray. The portion of the CW signal assigned tothe ray starts at the emission starting time and extends for theemission duration.

According to an embodiment of the device, the processing unit isconfigured to generate the output signal by computing, for each ray inthe ray set, a mixed signal contribution by mixing the CW signal withthe computed signal contribution of the ray, and by generating theoutput signal by adding the mixed signal contributions of all rays inthe ray set.

The computing device as well as some or all components of the system mayinclude hardware and software components. The hardware components mayinclude at least one of microcontrollers, central processing units(CPU), graphics processing unit (GPU), memories, and storage devices.

The disclosure is be explained in greater detail with reference toexemplary embodiments depicted in the drawings as appended.

The accompanying drawings are included to provide a furtherunderstanding of the present disclosure and are incorporated in andconstitute a part of this specification. The drawings illustrateembodiments of the present disclosure and together with the descriptionserve to explain the principles of the disclosure.

Other embodiments of the present disclosure and many of the intendedadvantages of the present disclosure will be readily appreciated as theybecome better understood by reference to the following detaileddescription. It should be understood that method acts are numbered foreasier reference, but the numbering of the acts does not necessarilyimply the acts are being performed in that order unless explicitly orimplicitly described otherwise. In particular, acts may also beperformed in a different order than indicated by their numbering. Someacts may be performed simultaneously or in an overlapping manner.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 schematically shows a block diagram illustrating a device forsimulating sensor data of a CW lidar sensor according to an embodiment.

FIG. 2 schematically shows an illustration of an example of a lidarsensor during operation.

FIG. 3 schematically shows an example of a CW signal with a sectionassigned to a ray.

FIG. 4 schematically illustrates propagating rays from a transmitter toa receiver according to an embodiment.

FIG. 5 schematically illustrates propagating rays from a receiver to atransmitter according to an embodiment.

FIG. 6 schematically illustrates the generation of an output signalbased on mixing the CW signal with a signal contribution of a rayaccording to an embodiment.

FIG. 7 shows a flow diagram of a method for simulating sensor data of aCW lidar sensor according to an embodiment.

FIG. 8 schematically illustrates a block diagram illustrating a computerprogram product according to an embodiment.

FIG. 9 schematically illustrates a block diagram illustrating anon-transitory, computer-readable storage medium according to anembodiment.

DETAILED DESCRIPTION

FIG. 1 schematically illustrates a device 1 for simulating sensor dataof a CW lidar sensor. Before the different components of the device 1are explained in more detail, the operating principle of a CW lidarsensor is described with reference to FIG. 2.

As shown in FIG. 2, a laser of the lidar sensor generates a continuouswave, CW, signal 101. The laser is controlled in such a way that theamplitude is varying as a function of time. In this case, the lidarsystem is arranged for an amplitude modulated continuous wave (AMCW)method. However, whereas in the following the depicted signals havevarying amplitudes, the lidar system may also be configured for use withfrequency modulated continuous wave (FMCW) methods. In this case, thefrequency of the CW signal varies as a function of time. A transmitterTx of the lidar system emits the CW signal. The CW signal is reflectedby one or more objects in a scene 102 and is, at least partially,received by a receiver Rx of the lidar system. The received signal ismixed by a mixing unit 103 of the lidar system with the original CWsignal. The signal obtained in this way is emitted as an output signal104.

In the following, the components of the device 1 for simulating sensordata of a CW lidar sensor are described in more detail.

The device 1 includes an interface 4 which is configured to receive datafrom external devices and to transmit data to external devices. Theinterface 4 may therefore be arranged as both an input unit and anoutput unit and may be any kind of port or link or interface capable ofcommunicating information to another system (e.g., WLAN, Bluetooth,ZigBee, Profibus, ETHERNET, etc.) or to a user (Display, Printer,Speaker, etc.).

The device 1 further includes a processor or processing unit 2configured to process data received from the interface 4. The processingunit 2 may be a central processing unit (CPU), or graphics processingunit (GPU) like a microcontroller (μC), an integrated circuit (IC), anapplication-specific integrated circuit (ASIC), an application-specificstandard product (ASSP), a digital signal processor (DSP), a fieldprogrammable gate array (FPGA), and the like.

The processing unit 2 includes a ray set generating unit 21 being incommunication with the interface 4, a ray propagating unit 22 being incommunication with the ray set generating unit 21, a signal contributioncomputing unit 23 being in communication with the ray propagating unit22, and an output signal generating unit 24 being in communication withthe signal contribution computing unit 23. The modules 21 to 24 may bepart of the processing unit 2 or may be implemented on the processingunit 2 or on separate units in communicative connection with theprocessing unit 2.

The device 1 further includes a storing unit 3 being in communicationwith the signal generating unit 24. The storing unit 3 may include adata storage like a magnetic storage or memory, (e.g., a magnetic-corememory, a magnetic tape, a magnetic card, a hard disc drive, a floppydisc, or a removable storage). The storing unit 3 may include an opticalstorage or memory, e.g., a holographic memory, an optical tape, aLaserdisc, a Phasewriter, Phasewriter Dual (PD), a Compact Disc (CD),Digital Video Disc (DVD), high definition DVD (HD DVD), Blu-ray Disc(BD), or Ultra Density Optical (UDO). The storing unit 3 may further bea magneto-optical storage or memory, e.g., MiniDisc or Magneto-OpticalDisk (MO-Disk); a volatile semiconductor or solid state memory, e.g.,Random Access Memory (RAM), Dynamic RAM (DRAM), or Static RAM (SRAM); anon-volatile semiconductor/solid state memory, e.g., Read Only Memory(ROM), Programmable ROM (PROM), Erasable PROM (EPROM), ElectricallyEPROM (EEPROM), Flash-EEPROM, e.g., USB-Stick, Ferroelectric RAM (FRAM),Magnetoresistive RAM (MRAM), or Phase-change RAM; or a datacarrier/medium.

The device 1 may receive certain input parameters via the interface 4,e.g., a waveform of a time-dependent CW signal or other parametersdescribing the CW signal, e.g., parameters relating to the phases oramplitudes of the CW signal. The input parameters may further include amaximum number or minimum number of rays to be generated by the raygenerating unit 21. Moreover, the device 1 may receive informationregarding a simulated scene, such as the number, orientation, andproperties of objects in the simulated scene. The simulated scenecorresponds to an artificial environment of the lidar sensor to besimulated. Laser beams emitted by the lidar sensor are reflected byobjects arranged in the simulated scene.

The ray generating unit 21 is configured to generate a ray set includesat least one ray, (e.g., a plurality of rays). In the following, wedescribe in more detail the situation, where a plurality of rays isgenerated. However, the disclosure is in principle also applicable to aray set including only one ray.

The ray generating unit 21 defines for each ray in the ray set anemission starting time, an emission duration, a spatial origin in thesimulated scene, and an emission direction. All rays may be omitted fromthe same spatial origin. However, the spatial origin may also bedifferent for different rays. The emission starting times may beselected randomly. Accordingly, the ray generating unit 21 may include a(pseudo-) random number generator. However, the ray generating unit 21may also select the emission starting times according to a deterministicor predefined distribution.

The ray generating unit 21 assigns to each ray a certain section of theCW signal, the section starting at the emission starting time andextending for the emission duration.

Next, the ray propagating unit 22 propagates all the rays in the ray setthrough the simulated scene. The ray propagating unit 22 is configuredto use ray-tracing methods known in the art.

Ray-tracing is a method to sample geometry in a virtual scene known fromcomputer graphics. In computer graphics, ray-tracing is used to createan image by shooting rays from a camera and instantaneously accumulatinglight on a sensor pixel, e.g., without taking the finite propagationtime into account. In contrast, ray-tracing according to the presentdisclosure also take account of the finite propagation time.

Each ray is propagated through the simulated scene by computing theintersections of the current ray, (e.g., the original emitted ray or thealready scattered ray), with the closest object in the simulated sceneand computes the parameters of reflection based on the properties of theobject, using a suitable physical model. By determining the (possiblymultiple) reflections for each ray, the ray propagating unit 22 computesthe light path of each ray in the simulated scene. Reflection of therays may have the additional effect that only part of the energy isreceived at a detection location. Therefore, the ray propagating unit 22computes in addition to the light path itself also the throughput of theray along the light path to the detection location.

The signal contribution computing unit 23 is configured to compute thesignal contribution of each propagated ray in the ray set at a detectionlocation in the simulated scene. The signal contribution computing unit23 computes total lengths of the light paths of the rays from thespatial origin of the ray to the detection location. The signalcontribution unit 23 further computes a travel time, (e.g., propagationtime or time-of-flight), for each ray from the total length of thecorresponding light path, based on the speed of light, c, as aconversion factor.

The signal contribution computing unit 23 computes the signalcontribution of each ray based on the portion of the CW signal assignedto the ray, wherein the portion of the CW signal assigned to the ray isphase-shifted relative to the original CW signal according to thecomputed travel time of the light path corresponding to the ray. Thephase shift leads to a signal offset between the signal contribution andthe CW signal. Moreover, the amplitude of the signal contribution of theray may be adjusted according to the computed throughput.

The output signal generating unit 24 computes for each ray in the rayset a mixed signal contribution by mixing the original CW signal withthe computed signal contribution of the ray. The output signalgenerating unit 24 further generates an output signal by adding themixed signal contributions of all rays in the ray set.

The output signal generating unit 24 may be configured to provide theoutput signal to a user via the interface 4. In addition, oralternatively, the output signal may be stored in the storing unit 3.

Some of the aspects of the device 1 for simulating sensor data of a CWlidar sensor will be described in more detail with reference to FIGS. 3to 6.

FIG. 3 shows an exemplary CW signal 5 used for generating the ray setand for generating the output signal by mixing the CW signal 5 with thecomputed signal contributions of the rays. As illustrated in FIG. 3, theamplitude of the CW signal is modulated, e.g., the CW signal 5 is anamplitude modulated continuous wave, AMCW, signal. According todifferent embodiments, the CW signal 5 may also be frequency modulated,e.g., a frequency modulated continuous wave, FMCW, signal.

For an exemplary ray in the ray set, an emission starting time t_0 isset, e.g., 46 ns as measured relative to a predetermined initial time of0 ns. Moreover, an emission duration T is set, starting from theemission starting time t_0 and ending at an emission end time t_1. Thecorresponding section or portion of the CW signal 5 between the emissionstarting time t_0 and the emission and time t_1 is assigned to the ray.

As illustrated in FIG. 4, a ray may be propagated through a simulatedscene, starting from a transmitter Tx of a simulated lidar sensor in thesimulated scene 6, the transmitter Tx being located at the spatialorigin of the ray in the simulated scene 6. The ray is reflected from afirst object 61 and further reflected from a second object 62 andreaches a detection location corresponding to a receiver Rx of thesimulated lidar sensor.

As shown in FIG. 5, propagating the ray may also be performed in thereverse direction. That is, the ray may be traced from a spatial originof the ray located at the position of the receiver Rx of the simulatedlidar sensor, being at first reflected from the second object 62, thenbeing reflected from the first object 61, until the ray reaches thedetection location corresponding to the position of the transmitter Txof the simulated lidar sensor in the simulated scene.

With reference to FIG. 6, the ray set generating unit 21 assigns acertain portion of the CW signal 5 to the ray, as was described above inmore detail with reference to FIG. 3. After the ray propagating unit 22propagates the ray through a simulated scene, the signal contributioncomputing unit 23 computes the corresponding signal contribution 71 ofthe ray. The output signal generating unit 24 includes a mixing unit 72for mixing the signal contribution 71 of the ray and a portion 51 of theCW signal, starting at the time t_2 the ray is received at the detectionlocation. The time t_2 corresponds to the sum of the emission startingtime of the ray and the travel time of the ray. The portion 51 of the CWsignal 5 may differ from the portion of the CW signal assigned to theray (starting at the emission starting time) by a phase shiftcorresponding to the travel time of the ray. Moreover, the actual signalcontribution of the ray may also be affected by the throughput of theray along the light path.

By mixing the CW signal with the computed signal contribution of theray, the output signal generating unit 24 generates a mixed signalcontribution 73. For a plurality of rays in the ray set, the outputsignal generating unit 24 will generate the output signal by adding themixed signal contributions 73 of all rays in the ray set.

FIG. 7 shows a flow diagram of a method for simulating sensor data of aCW lidar sensor.

In a first method act S1, a ray set is generated including at least oneray, (e.g., a plurality of rays). The number of rays in the ray set maybe fixed. The number of rays in the ray set may also be randomly chosen.The number of rays in the ray set may be chosen to be larger than apredetermined minimum number. For example, the ray set may include atleast 2, at least 100, at least 500, or at least 1000 rays. The numberof rays in the ray set also be selected to be smaller than apredetermined maximum number. For example, the ray set may include atmost 100,000, at most 10,000, at most 5000, or at most 2000 rays.

For each ray, an emission starting time is determined, relative to somepredetermined time origin, (e.g., 0 ns). Moreover, an emission durationof the ray is determined. The emission duration may be equal for allrays but may also vary for different rays. The emission duration of therays may also follow a predetermined distribution. Further, for eachray, a spatial origin in the simulated scene is determined. The spatialorigin (corresponding to the emission point of the ray) may be identicalfor all rays in the ray set. However, different rays may also includedifferent spatial origins. Further, an emission direction of each ray isdetermined.

The emission direction and/or the emission starting time and/or theemission duration may be randomly selected or may be uniformly selectedor sampled. The emission starting times may be sampled in such a waythat an accurate output signal is generated. In particular, the emissionstarting times are selected such that the portions of the CW signalassigned to the rays cover at least one entire phase of the CW signal.The contributions of respective rays may be adjusted using samplingtheory, e.g., importance sampling.

In a method act S2, each ray in the ray set is propagated through asimulated scene. The simulated scene includes a plurality of objectshaving predetermined geometries and physical properties. The locationsand/or physical properties of the objects in the simulated scene may befixed or may change in time. Propagating the rays is performed usingray-tracing algorithms known in the art. For each ray, a light path ofthe ray is determined based on the spatial origin of the ray, theemission direction of the ray and the reflections of the ray on theobjects in the simulated scene. Moreover, a throughput of the ray alongthe light path to the detection location is computed.

In a method act S3, a signal contribution of the propagated ray at adetection location in the scene is computed for each ray in the ray set.A signal contribution is computed based on the computed throughput andbased on the travel time of the ray. The travel time of the ray may becomputed from the length of the light path of the ray. The final traveltime of the ray leads to a signal offset between the signal contributionand the CW signal. The signal offset is determined based on the emissionstarting time of the ray and the travel time along the light path of theray.

In a method act S4, each computed signal contribution is mixed with theCW signal to compute a mixed signal contribution of the correspondingray. Mixing the CW signal with the computed signal contribution is basedon the signal offset. The mixed signal contributions of all rays areadded to generate an output signal.

In a method act S5, the output signal is stored in a memory storing unit3. Additionally, or alternatively, the output signal is outputted to anoutput unit 4, e.g., a display or printer.

FIG. 8 schematically illustrates a block diagram illustrating a computerprogram product P including executable program code PC. The executableprogram code PC is configured to perform, when executed (e.g., by acomputing device), the method for simulating sensor data of a CW lidarsensor.

FIG. 9 schematically illustrates a block diagram illustrating anon-transitory, computer-readable storage medium M including executableprogram code MC configured to, when executed (e.g., by a computingdevice), perform the method for simulating sensor data of a CW lidarsensor.

It should be understood that all advantageous options, variance inmodifications described herein and the foregoing with respect toembodiments of the device for simulating sensor data of a CW lidarsensor may be equally applied to embodiments of the method forsimulating sensor data of a CW lidar sensor, and vice versa.

In the foregoing detailed description, various features are groupedtogether in one or more examples for the purpose of streamlining thedisclosure. It is to be understood that the above description isintended to be illustrative, and not restrictive. It is intended tocover alternatives, modifications, and equivalents. Many other exampleswill be apparent to one skilled in the art upon reviewing the abovespecification.

Although specific embodiments have been illustrated and describedherein, it will be appreciated by those of ordinary skill in the artthat a variety of alternate and/or equivalent implementations exist. Itshould be appreciated that the exemplary embodiment or exemplaryembodiments are only examples, and are not intended to limit the scope,applicability, or configuration in any way. Rather, the foregoingsummary and detailed description will provide those skilled in the artwith a convenient road map for implementing at least one exemplaryembodiment, it being understood that various changes may be made in thefunction and arrangement of elements described in an exemplaryembodiment without departing from the scope as set forth in the appendedclaims and their legal equivalents. Further, this disclosure may coverany adaptations or variations of the specific embodiments discussedherein.

Specific nomenclature used in the foregoing specification is used toprovide a thorough understanding of the disclosure. However, it will beapparent to one skilled in the art in light of the specificationprovided herein that the specific details are not required in order topractice the disclosure. Thus, the foregoing descriptions of specificembodiments of the present disclosure are presented for purposes ofillustration and description. They are not intended to be exhaustive orto limit the disclosure to the precise forms disclosed; obviously manymodifications and variations are possible in view of the aboveteachings. The embodiments were chosen and described in order to bestexplain the principles of the disclosure and its practical applications,to thereby enable others skilled in the art to best utilize thedisclosure and various embodiments with various modifications as aresuited to the particular use contemplated. Throughout the specification,the terms “including” and “in which” are used as the plain-Englishequivalents of the respective terms “comprising” and “wherein,”respectively. Moreover, the terms “first,” “second,” and “third,” etc.,are used merely as labels, and are not intended to impose numericalrequirements on or to establish a certain ranking of importance of theirobjects. In the context of the present description and claims theconjunction “or” is to be understood as including (“and/or”) and notexclusive (“either . . . or”).

1. A method for simulating sensor data of a continuous wave (CW) LightDetection and Ranging lidar sensor, the method comprising: generating aray set comprising at least one ray, based on a CW signal, each ray inthe ray set having an emission starting time and an emission duration;propagating, for each ray in the ray set, the ray through a simulatedscene comprising at least one object; computing, for each ray in the rayset, a signal contribution of the propagated ray at a detection locationin the simulated scene; generating an output signal, based on mixing theCW signal with each computed signal contribution of the at least one rayin the ray set, wherein the CW signal differs from each computed signalcontribution of the at least one ray in the ray set by a phase shiftcorresponding to a travel time of the respective ray; and storing,outputting, or both storing and outputting the output signal.
 2. Themethod of claim 1, wherein each ray in the ray set comprises a spatialorigin in the simulated scene and an emission direction in the simulatedscene.
 3. The method of claim 2, wherein the propagating of the raycomprises: determining a light path of the ray based on the spatialorigin of the ray, on the emission direction of the ray and onreflection of the ray on the at least one object in the simulated scene;and computing a throughput of the ray along the light path to thedetection location; and wherein the computing of the signal contributionis based on the computed throughput, and wherein the computed throughputof the ray is related to a part of energy received at the detectionlocation due to reflection of the ray along the light path.
 4. Themethod of claim 3, wherein, for each ray in the ray set, the mixing ofthe CW signal with the computed signal contribution of the ray is basedon a signal offset between the signal contribution and the CW signal,and wherein the signal offset is determined based on the emissionstarting time of the ray and the light path of the ray.
 5. The method ofclaim 2, wherein the emission direction is randomly selected oruniformly selected.
 6. The method of claim 1, wherein the ray setcomprises a plurality of rays, and wherein the emission starting timesof the plurality of rays are randomly selected or uniformly selected. 7.The method of claim 1, wherein the CW signal is a frequency modulatedcontinuous wave signal or an amplitude modulated continuous wave signal.8. The method of claim 1, wherein the generating of the ray setcomprises assigning a portion of the CW signal to each ray of the atleast one ray, and wherein the portion of the CW signal begins at theemission starting time and has a length equal to the emission duration.9. The method of claim 1, wherein the generating of the output signalcomprises: computing, for each ray in the ray set, a mixed signalcontribution by mixing the CW signal with the computed signalcontribution of the ray; and generating the output signal by adding themixed signal contribution of each ray in the ray set.
 10. A device forsimulating sensor data of a continuous wave (CW) Light Detection andRanging (lidar) sensor, the device comprising: a processor configuredto: generate a ray set comprising at least one ray, based on a CWsignal, each ray of the ray set having an emission starting time and anemission duration, propagate, for each ray in the ray set, the raythrough a simulated scene comprising at least one object, compute, foreach ray in the ray set, a signal contribution of the propagated ray ata detection location in the simulated scene; and generate an outputsignal, based on mixing the CW signal with the computed signalcontribution of the at least one ray in the ray set, wherein the CWsignal differs from the computed signal contributions of the at leastone ray in the ray set by a phase shift corresponding to a travel timeof the respective ray; and at least one of a storing unit configured tostore the output signal and an output unit configured to output theoutput signal.
 11. The device of claim 10, wherein the ray set comprisesa plurality of rays, and wherein the processor is configured todetermine the emission starting times of the plurality of rays in arandom or uniform way.
 12. The device of claim 10, wherein the processoris configured to generate the ray set by assigning a portion of the CWsignal to each ray of the at least one ray, and wherein the portion ofthe CW signal begins at the emission starting time and has a lengthequal to the emission duration.
 13. The device of claim 10, wherein theprocessor is configured to generate the output signal by: computing, foreach ray in the ray set, a mixed signal contribution by mixing the CWsignal with the computed signal contribution of the ray; and generatingthe output signal by adding the mixed signal contribution of each ray inthe ray set.
 14. A computer program product comprising executableprogram code, wherein the program code, when executed by a computingdevice, is configured to: generate a ray set comprising at least oneray, based on a CW signal, each ray in the ray set having an emissionstarting time and an emission duration; propagate, for each ray in theray set, the ray through a simulated scene comprising at least oneobject; compute, for each ray in the ray set, a signal contribution ofthe propagated ray at a detection location in the simulated scene;generate an output signal, based on mixing the CW signal with eachcomputed signal contribution of the at least one ray in the ray set,wherein the CW signal differs from each computed signal contribution ofthe at least one ray in the ray set by a phase shift corresponding to atravel time of the respective ray; and store and/or output the outputsignal.
 15. A non-transitory, computer-readable storage mediumcomprising executable program code, wherein the program code, whenexecuted by a computing device, is configured to: generate a ray setcomprising at least one ray, based on a CW signal, each ray in the rayset having an emission starting time and an emission duration;propagate, for each ray in the ray set, the ray through a simulatedscene comprising at least one object; compute, for each ray in the rayset, a signal contribution of the propagated ray at a detection locationin the simulated scene; generate an output signal, based on mixing theCW signal with each computed signal contribution of the at least one rayin the ray set, wherein the CW signal differs from each computed signalcontribution of the at least one ray in the ray set by a phase shiftcorresponding to a travel time of the respective ray; and store and/oroutput the output signal.
 16. The method of claim 2, wherein, for eachray in the ray set, the mixing of the CW signal with the computed signalcontribution of the ray is based on a signal offset between the signalcontribution and the CW signal, and wherein the signal offset isdetermined based on the emission starting time of the ray and a lightpath of the ray.